3.1.3.4 User defined velocity units
3.1.3.4.1 Overview
The default unit for all velocity and speed data is rpm
The default unit for all acceleration and deceleration data is rpm/s
In the case that the application requires a higher precision in velocity, the unit can be configured by the user
through object 0x60A9 SI unit velocity.
Supported values are:
1 rpm (default value)
0.1 rpm
0.01 rpm
0.001 rpm
Attention
As soon as this object is changed, all related objects and subitems also use the chosen unit and
must be scaled accordingly. Unexpected behavior and accidents can occur if the chosen unit is not
taken into account. For more information please refer to “Objects affected by changes of the velocity
unit”.
Attention
Starting from firmware v5.0, the velocity reference frame is reported on the moving shaft. The target
and actual velocity are scaled with a factor of “gear-ratio”. For better precision, it is recommended to
change the SI unit to mrpm.
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